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OpenShiftAdvent Calendar 2023

Day 9
@kareki(kansai - kareki)

OpenShift × Unity-Robotics-Hubトラブル集

Posted at

はじめに

下記ブログの取り組み時に遭遇したトラブルと、その対処法・不明点が多かったのでまとめた

トラブルと対処集

トラブル1. 【解決済】 crc setup失敗

状況

  • 初回のcrc setup時にエラーで処理完了しない
  • コンソール出力は下記の通り 
    $ crc setup
CRC is constantly improving and we would like to know more about usage (more details at https://developers.redhat.com/article/tool-data-collection)
Your preference can be changed manually if desired using 'crc config set consent-telemetry <yes/no>'
Would you like to contribute anonymous usage statistics? [y/N]: y
Thanks for helping us! You can disable telemetry with the command 'crc config set consent-telemetry no'.
INFO Using bundle path /home/ttnt1013/.crc/cache/crc_libvirt_4.14.1_amd64.crcbundle 
INFO Checking if running as non-root              
INFO Checking if running inside WSL2              
INFO Checking if crc-admin-helper executable is cached 
INFO Caching crc-admin-helper executable          
INFO Using root access: Changing ownership of /home/ttnt1013/.crc/bin/crc-admin-helper-linux 
[sudo] password for ttnt1013: 
INFO Using root access: Setting suid for /home/ttnt1013/.crc/bin/crc-admin-helper-linux 
INFO Checking if running on a supported CPU architecture 
INFO Checking if crc executable symlink exists    
INFO Creating symlink for crc executable          
INFO Checking minimum RAM requirements            
INFO Checking if Virtualization is enabled        
INFO Checking if KVM is enabled                   
INFO Checking if libvirt is installed             
INFO Installing libvirt service and dependencies  
INFO Using root access: Installing virtualization packages 
INFO Checking if user is part of libvirt group    
INFO Checking if active user/process is currently part of the libvirt group 
You need to logout, re-login, and run crc setup again before the user is effectively a member of the 'libvirt' group.

対処法

  • PCを再起動して再度crc setupを実施（ログアウトしてログインしただけだと同じように失敗した）

トラブル2. 【解決済】 docker push時にエラー

状況

  • DockerfileをビルドしてDocker Hubにpushする際に、下記のエラーで完了できなかった 
    denied: requested access to the resource is denied

対処法

  • 下記コマンドでログインし直すとpushが完了できた 
    $ docker logout
$ docker login

トラブル3. 【解決済】 Podmanのインストールができない

状況

  • （今回は最終的に結局Docker hubを利用したが）Docker hubではなくOpenShiftのImage Registryを利用しようとしていたときに、コンテナランタイムをDockerで行うと設定がややこしい？っぽかったのでpodmanに変えようとした
  • podmanをapt-getでインストールしようとすると下記のエラーが出た 
    $ sudo apt-get -y install podman
Reading package lists... Done
Building dependency tree       
Reading state information... Done
E: Unable to locate package podman

対処法

  • 下記のコマンドを実行することでインストールを完了できた 
    $ sudo apt update
$ source /etc/os-release
$ echo "deb https://download.opensuse.org/repositories/devel:/kubic:/libcontainers:/stable/xUbuntu_${VERSION_ID}/ /" | sudo tee /etc/apt/sources.list.d/devel:kubic:libcontainers:stable.list
$ curl -L "https://download.opensuse.org/repositories/devel:/kubic:/libcontainers:/stable/xUbuntu_${VERSION_ID}/Release.key" | sudo apt-key add -
$ sudo apt update
$ sudo apt -y install podman
  • 参考

トラブル4. 【解決済】 コンテナの状態がCrashLoopBackになりPodが立ち上がらない

状況

  • Pod立ち上げ後、CrashLoopBackの状態になり、コンソールに下記のエラーが表示される
    • ここの工程で発生したエラー
    0/1 nodes are available: 1 Insufficient memory. preemption: 0/1 nodes are available: 1 No preemption victims found for incoming pod..

対処法

  • 当初、OpenShift立ち上げ時にcrc startを実行していたが、リソースを確保するためのオプションを追記した
  • 念の為、crc cleanup、crc setupすることでまっさらな状態にしておいた 
    $ crc stop
$ crc cleanup
$ crc setup
$ crc start -c 6 -m 14000

トラブル5. 【動いたが謎が残る】 OpenShift上でROSのコマンドが動かない

本件に関しては、試した経緯を共有したい

Dockerでテスト動作：成功

  • 下記のDockerfileを用意（リポジトリに上がってるものそのまま） 
    FROM ros:melodic-ros-base

RUN sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654

RUN sudo apt-get update && sudo apt-get install -y vim iputils-ping net-tools python-pip ros-melodic-robot-state-publisher ros-melodic-moveit ros-melodic-rosbridge-suite ros-melodic-joy ros-melodic-ros-control ros-melodic-ros-controllers ros-melodic-tf2-web-republisher dos2unix

RUN sudo -H pip install rospkg jsonpickle

ENV ROS_WORKSPACE=/catkin_ws

# Copy each directory explicitly to avoid workspace cruft
COPY ./ROS/src/moveit_msgs $ROS_WORKSPACE/src/moveit_msgs
COPY ./ROS/src/niryo_moveit $ROS_WORKSPACE/src/niryo_moveit
COPY ./ROS/src/niryo_one_ros $ROS_WORKSPACE/src/niryo_one_ros
COPY ./ROS/src/niryo_one_urdf $ROS_WORKSPACE/src/niryo_one_urdf
COPY ./ROS/src/ros_tcp_endpoint $ROS_WORKSPACE/src/ros_tcp_endpoint

COPY ./docker/set-up-workspace /setup.sh
COPY docker/tutorial /

RUN /bin/bash -c "find $ROS_WORKSPACE -type f -print0 | xargs -0 dos2unix"

RUN dos2unix /tutorial && dos2unix /setup.sh && chmod +x /setup.sh && /setup.sh && rm /setup.sh

WORKDIR $ROS_WORKSPACE

# making sure the file modes are executable
RUN chmod +x src/niryo_moveit/scripts/*.py

ENTRYPOINT ["/tutorial"]
  • ビルド後、下記コマンドでコンテナ実行・ログイン 
    $ docker run -it --rm -p 10000:10000 <docker-user>/pick-and-place:latest /bin/bash
  • コンテナ内で下記コマンドを実行し、Unityと連携できることを確認 
    root@d56a1d919195:/catkin_ws# roslaunch niryo_moveit part_3.launch

テスト実行したコンテナをOpenShiftのPodで実行：失敗→Dockerfile修正

  • この流れでDeploymentを作成すると、PodのstatusがCompleted（→CrashLoopBack→Completed→CrashLoopBack→…）になり何も起こらない
  • OpenShiftのコンソール上でTerminalに入れないので、処理が終わってしまわないようにDockerfileを下記のように修正 
    FROM ros:melodic-ros-base

RUN sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654

RUN sudo apt-get update && sudo apt-get install -y vim iputils-ping net-tools python-pip ros-melodic-robot-state-publisher ros-melodic-moveit ros-melodic-rosbridge-suite ros-melodic-joy ros-melodic-ros-control ros-melodic-ros-controllers ros-melodic-tf2-web-republisher dos2unix

RUN sudo -H pip install rospkg jsonpickle

ENV ROS_WORKSPACE=/catkin_ws

# Copy each directory explicitly to avoid workspace cruft
COPY ./ROS/src/moveit_msgs $ROS_WORKSPACE/src/moveit_msgs
COPY ./ROS/src/niryo_moveit $ROS_WORKSPACE/src/niryo_moveit
COPY ./ROS/src/niryo_one_ros $ROS_WORKSPACE/src/niryo_one_ros
COPY ./ROS/src/niryo_one_urdf $ROS_WORKSPACE/src/niryo_one_urdf
COPY ./ROS/src/ros_tcp_endpoint $ROS_WORKSPACE/src/ros_tcp_endpoint

COPY ./docker/set-up-workspace /setup.sh
COPY docker/tutorial /

RUN /bin/bash -c "find $ROS_WORKSPACE -type f -print0 | xargs -0 dos2unix"

RUN dos2unix /tutorial && dos2unix /setup.sh && chmod +x /setup.sh && /setup.sh && rm /setup.sh

WORKDIR $ROS_WORKSPACE

# making sure the file modes are executable
RUN chmod +x src/niryo_moveit/scripts/*.py

CMD exec /bin/bash -c "trap: TERM INT; sleep infinity & wait" # 追記

ENTRYPOINT ["/tutorial"]
  • 上記のDockerfileをビルドしてDocker hubにpushした

Sleep処理を入れて起動しっぱなしにしたコンテナをOpenShiftのPodで実行：失敗→コンテナの実行ユーザーをrootに変更

  • 前節と同様の流れでDeploymentを作成すると、PodのstatusがRunningで継続されるようになり、Terminalからコンテナ操作が可能になった

  • 下記のROSコマンドを実行するとエラー発生

    $ roslaunch niryo_moveit part_3.launch
sh: 1: roslaunch: not found

  • ユーザーidと環境変数$PATHを調べる

    $ id
uid=1000660000(1000660000) gid=0(root) groups=0(root),1000660000
$ echo $PATH
/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
    • Dockerでテスト成功したときの状況は下記のとおり 
      root@cbb16a77366a:/catkin_ws# id
uid=0(root) gid=0(root) groups=0(root)
root@cbb16a77366a:/catkin_ws# echo $PATH
/opt/ros/melodic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
    • @ydo さんにPodはランダムなIDのユーザーが割り振られることを教えていただきました

  • 試しにOpenShiftのPodで$PATHを追加してみたが、動作しない

    $ export PATH=$PATH:/opt/ros/melodic/bin      
$ echo $PATH
/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/opt/ros/melodic/bin
$ roslaunch niryo_moveit part_3.launch
Traceback (most recent call last):
  File "/opt/ros/melodic/bin/roslaunch", line 34, in <module>
    import roslaunch
ImportError: No module named roslaunch

  • rootユーザーにしたらどうかと思い、DeploymentのYAMLの148行目のsecurityContextに下記のように値を設定

    ...
securityContext: 
    runAsUser: 0
...

Sleep処理を入れて起動しっぱなしにしたコンテナをOpenShiftのPodで実行、rootでログイン：失敗→Dockerfileに実行したい処理も書く

  • DeploymentのYAML修正後にできたPodのTerminalからユーザーidと環境変数$PATHを調べる 
    # id
uid=0(root) gid=0(root) groups=0(root)
# echo $PATH
/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
    • rootユーザーにはなっているが、パスが通っていない
  • $PATHを追加してみたが、動作しない 
    # export PATH=$PATH:/opt/ros/melodic/bin
# roslaunch niryo_moveit part_3.launch
Traceback (most recent call last):
  File "/opt/ros/melodic/bin/roslaunch", line 34, in <module>
    import roslaunch
ImportError: No module named roslaunch
  • 問題の検討がつかなかったので、DockerfileのCMDからroslaunch niryo_moveit part_3.launchを実行するように変更する 
    FROM ros:melodic-ros-base

RUN sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654

RUN sudo apt-get update && sudo apt-get install -y vim iputils-ping net-tools python-pip ros-melodic-robot-state-publisher ros-melodic-moveit ros-melodic-rosbridge-suite ros-melodic-joy ros-melodic-ros-control ros-melodic-ros-controllers ros-melodic-tf2-web-republisher dos2unix

RUN sudo -H pip install rospkg jsonpickle

ENV ROS_WORKSPACE=/catkin_ws

# Copy each directory explicitly to avoid workspace cruft
COPY ./ROS/src/moveit_msgs $ROS_WORKSPACE/src/moveit_msgs
COPY ./ROS/src/niryo_moveit $ROS_WORKSPACE/src/niryo_moveit
COPY ./ROS/src/niryo_one_ros $ROS_WORKSPACE/src/niryo_one_ros
COPY ./ROS/src/niryo_one_urdf $ROS_WORKSPACE/src/niryo_one_urdf
COPY ./ROS/src/ros_tcp_endpoint $ROS_WORKSPACE/src/ros_tcp_endpoint

COPY ./docker/set-up-workspace /setup.sh
COPY docker/tutorial /

RUN /bin/bash -c "find $ROS_WORKSPACE -type f -print0 | xargs -0 dos2unix"

RUN dos2unix /tutorial && dos2unix /setup.sh && chmod +x /setup.sh && /setup.sh && rm /setup.sh

WORKDIR $ROS_WORKSPACE

# making sure the file modes are executable
RUN chmod +x src/niryo_moveit/scripts/*.py

CMD exec /bin/bash -c "roslaunch niryo_moveit part_3.launch"

ENTRYPOINT ["/tutorial"]

ROSコマンドを実行するコンテナをOpenShiftのPodで起動、rootでログイン：失敗→defaultのSCCを変更

  • Deploymentを作成すると、PodのStatusがError→CrashLoopBackとなる
  • Logは下記の通り 
    (略)
...
 * /robot_description_planning/joint_limits/joint_3/max_velocity: 2.0
 * /robot_description_planning/joint_limits/joint_4/has_acceleration_No handlers could be found for logger "roslaunch"
[31m[master] ERROR: unable to configure logging [unable to create directory for log file [/.ros/log/70dd233a-a091-11ee-9ccb-0a580ad9016e].
Please check permissions.][0m
[31mRLException: Roslaunch got a 'No such file or directory' error while attempting to run:

rosmaster --core -p 11311 -w 3

Please make sure that all the executables in this command exist and have
executable permission. This is often caused by a bad launch-prefix.[0m
[31mThe traceback for the exception was written to the log file[0m
limits: True
 * /robot_description_planning/joint_limits/joint_4/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_4/max_acceleration: 1.3
 * /robot_description_planning/joint_limits/joint_4/max_velocity: 2.0
 * /robot_description_planning/joint_limits/joint_5/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/joint_5/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_5/max_acceleration: 1.8
 * /robot_description_planning/joint_limits/joint_5/max_velocity: 2.5
 * /robot_description_planning/joint_limits/joint_6/has_acceleration_limits: True
 * /robot_description_planning/joint_limits/joint_6/has_velocity_limits: True
 * /robot_description_planning/joint_limits/joint_6/max_acceleration: 2.6
 * /robot_description_planning/joint_limits/joint_6/max_velocity: 3.14
 * /robot_description_semantic: <?xml version="1....
 * /robot_description_tf2: <?xml version="1....
 * /rosdistro: melodic
 * /rosversion: 1.14.13
 * /server_endpoint/tcp_ip: 0.0.0.0
 * /server_endpoint/tcp_port: 10000

NODES
  /
    controller_spawner (controller_manager/spawner)
    move_group (moveit_ros_move_group/move_group)
    mover (niryo_moveit/mover.py)
    niryo_one_driver (niryo_one_driver/niryo_one_driver)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    server_endpoint (ros_tcp_endpoint/default_server_endpoint.py)

auto-starting new master
[master] killing on exit
  • DeploymentのYAMLにrunAsUser: 0を追加
    • 上記と同様のStatus、Logが出る
  • @ydo さんよりdefaultのSCC（Security Context Constrains）を変更してはどうかというアドバイスをいただき、試してみた（ただしこれは普通はしない設定とのこと）
    • ホストPCで下記のコマンドを実行
    $ eval $(crc oc-env)
$ oc login -u kubeadmin -p xxxxxxxx
Login successful.

You have access to 67 projects, the list has been suppressed. You can list all projects with 'oc projects'

Using project "unity-test".
$ oc adm policy add-scc-to-user privileged -z default
clusterrole.rbac.authorization.k8s.io/system:openshift:scc:privileged added: "default"
  • PodのStatusが継続的にRunning、Logを見ると所望のコマンドが正常に実行されていることを確認できた 
    [ INFO] [1703233271.214119380]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1703233271.214145419]: MoveGroup context initialization complete
You can start planning now!

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